说明：  MPU6050驱动程序，51单片机测试通过
(The MPU-6000 (6050) is the world's first integrated 6-axis motion processing component. Compared to the multi-component solution, it eliminates the problem of the difference between the combined gyroscope and the accelerator's time axis and reduces a lot of packaging space. When connected to the three-axis magnetometer timing, the MPU-60X0 offers full 9-axis motion fusion output to its main I2C or SPI port (SPI is only available on the MPU-6000).)